Rev 2168 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2168 | Rev 2174 | ||
|---|---|---|---|
| Line 66... | Line 66... | ||
| 66 | unsigned char jetistepstep[] = {1,5,10,25,50}, jetistep = 0; |
66 | unsigned char jetistepstep[] = {1,5,10,25,50}, jetistep = 0; |
| Line 67... | Line 67... | ||
| 67 | 67 | ||
| Line 68... | Line 68... | ||
| 68 | 68 | ||
| 69 | unsigned short CurrentOffset = 0;/// |
69 | unsigned short CurrentOffset = 0;/// |
| 70 | 70 | ||
| 71 | unsigned char Motors[8]; |
71 | unsigned char Motors[12]; //MartinR: Fehlersuche (war 8) |
| Line 72... | Line 72... | ||
| 72 | unsigned char Motorsmax[8]; |
72 | unsigned char Motorsmax[12]; //MartinR: Fehlersuche (war 8) |
| 73 | unsigned short MotorsTmax; |
73 | unsigned short MotorsTmax; |
| Line 257... | Line 257... | ||
| 257 | #endif |
257 | #endif |
| Line 258... | Line 258... | ||
| 258 | 258 | ||
| 259 | DebugOut.Analog[24] = SollHoehe/5; |
259 | DebugOut.Analog[24] = SollHoehe/5; |
| 260 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
260 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| - | 261 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
|
| - | 262 | DebugOut.Analog[25] = FC_StatusFlags;// MartinR: Test |
|
| - | 263 | DebugOut.Analog[26] = FC_StatusFlags2;// MartinR: Test |
|
| 261 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
264 | |
| 262 | DebugOut.Analog[27] = KompassSollWert; |
265 | DebugOut.Analog[27] = KompassSollWert; |
| 263 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
266 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| 264 | DebugOut.Analog[30] = GPS_Nick; |
267 | DebugOut.Analog[30] = GPS_Nick; |
| 265 | DebugOut.Analog[31] = GPS_Roll; |
268 | DebugOut.Analog[31] = GPS_Roll; |
| Line 1067... | Line 1070... | ||
| 1067 | StickNick -= GPS_Nick; |
1070 | StickNick -= GPS_Nick; |
| 1068 | StickRoll -= GPS_Roll; |
1071 | StickRoll -= GPS_Roll; |
| 1069 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1072 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
| Line 1070... | Line 1073... | ||
| 1070 | 1073 | ||
| 1071 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
1074 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 1072 | // IntegralFaktor = Parameter_Gyro_I; // MartinR: verschoben um Code zu sparen |
1075 | // IntegralFaktor = Parameter_Gyro_I; // MartinR: war mal hier |
| 1073 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
1076 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| Line 1074... | Line 1077... | ||
| 1074 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
1077 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
| 1075 | 1078 | ||
| Line 1110... | Line 1113... | ||
| 1110 | #endif |
1113 | #endif |
| Line 1111... | Line 1114... | ||
| 1111 | 1114 | ||
| 1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1115 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1113 | // Looping? |
1116 | // Looping? |
| - | 1117 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 1118 | #ifdef WITH_ACC_Loop // MartinR: deaktivieren um Code zu sparen |
|
| 1114 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1119 | |
| 1115 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1120 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1116 | else |
1121 | else |
| 1117 | { |
1122 | { |
| 1118 | { |
1123 | { |
| Line 1145... | Line 1150... | ||
| 1145 | } |
1150 | } |
| 1146 | } |
1151 | } |
| Line 1147... | Line 1152... | ||
| 1147 | 1152 | ||
| 1148 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
1153 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| - | 1154 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
|
| 1149 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
1155 | #endif |
| 1150 | } // Ende neue Funken-Werte |
- | |
| - | 1156 | } // Ende neue Funken-Werte |
|
| 1151 | 1157 | #ifdef WITH_ACC_Loop // MartinR: deaktiviert um Code zu sparen |
|
| 1152 | if(Looping_Roll || Looping_Nick) |
1158 | if(Looping_Roll || Looping_Nick) |
| 1153 | { |
1159 | { |
| 1154 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1160 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1155 | TrichterFlug = 1; |
1161 | TrichterFlug = 1; |
| - | 1162 | } |
|
| - | 1163 | #else |
|
| 1156 | } |
1164 | #warning : "### without ACC-Loop ###" |
| Line 1157... | Line 1165... | ||
| 1157 | 1165 | #endif |
|
| 1158 | 1166 | ||
| 1159 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1160 | // Bei Empfangsausfall im Flug |
1168 | // Bei Empfangsausfall im Flug |
| Line 1228... | Line 1236... | ||
| 1228 | LageKorrekturNick = 0; |
1236 | LageKorrekturNick = 0; |
| 1229 | LageKorrekturRoll = 0; |
1237 | LageKorrekturRoll = 0; |
| 1230 | } |
1238 | } |
| Line 1231... | Line 1239... | ||
| 1231 | 1239 | ||
| 1232 | if((EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) || (Parameter_UserParam1 > 49)) IntegralFaktor = 0; // MartinR geändert und verschoben |
1240 | if((EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) || (Parameter_UserParam1 > 49)) IntegralFaktor = 0; // MartinR geändert und verschoben |
| Line 1233... | Line 1241... | ||
| 1233 | else IntegralFaktor = Parameter_Gyro_I; // MartinR: verschoben um Code zu sparen |
1241 | else IntegralFaktor = Parameter_Gyro_I; // MartinR: geändert |
| 1234 | 1242 | ||
| 1235 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1243 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1236 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1244 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |